مشاهده مشخصات مقاله
Planning a Robust Path for Mobile Robots in Dynamic Environment
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Authors |
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Mahmood Naderan-Tahan
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Mohammad Taghi Manzuri-Shalmani
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Conference |
چهاردهمین کنفرانس بینالمللی سالانه انجمن کامپیوتر ایران |
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Abstract |
In this paper, we propose a new method for mobile
robot path planning in dynamic environment when the
trajectories of obstacles are unknown. Our algorithm
first utilizes a global approach called clearance based
probabilistic roadmap method to find a suitable path
and then locally apply evolutionary algorithm to keep
the structure of the path when obstacles collide with
the path. As a result, the path will act like an elastic
band. To reach real time applicability, a light fitness
function is proposed compare to other genetic
algorithms to reduce the computation time needed for
calculating and repairing path. Simulation results
show that our method not only can keep the original
structure of path, but also repair operation is done
quickly even in the scenes with many obstacles. |
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قیمت |
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برای اعضای سایت : 100,000 Rial
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برای دانشجویان عضو انجمن : 20,000 Rial
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برای اعضای عادی انجمن : 40,000 Rial
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خرید مقاله
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